VOXL Stereo Sensor User Guide
Table of contents
Overview
The stereo sensor is a pair of monochrome, global-shutter OV7251 cameras with 85° lenses on a shared flex, synchronized so both frames are captured at the same instant. On VOXL and VOXL Flight it plugs into connector J3, the stereo camera port (CSI1). Its output feeds depth-from-stereo processing.
The module is the M0015 stereo sensor kit. It is end of life; the datasheet names the current replacements.
Requirements
- VOXL or VOXL Flight running VOXL System Image 2.0 or newer.
- An M0015 stereo module.
- A host PC with ADB, see Setting Up ADB.
Hardware
- Power off VOXL or VOXL Flight.
- Seat the module’s flex in connector J3 with the contacts facing the board, then close the connector latch.
- Mount the two cameras rigidly. Any flex between them after calibration degrades the depth output.
- Power the board back on.
The VOXL Camera Configurations page shows which port each camera type uses and which configurations include the stereo pair.
Configure the camera server
Open a shell on the board, then run the camera configuration tool and pick a configuration that includes stereo cameras (configurations 1, 3, 7, and 10):
adb shell
voxl-configure-cameras
Restart the camera server so the new configuration takes effect:
systemctl restart voxl-camera-server
Verify the cameras
Check that frames are arriving on the stereo pipe:
voxl-inspect-cam stereo
The output shows frame rate, resolution, and exposure. See VOXL Inspect Camera for the other options.
To view the images, open VOXL Portal in a browser on a device on the same network as the board and pick the stereo camera from the camera dropdown.
Next steps
- Depth from stereo needs a stereo calibration. Run the procedure on the Calibrate Cameras page after mounting the cameras.
- The VOXL DFS Server page describes the depth-from-stereo service that consumes the stereo pipe.
- Next: VOXL ToF Sensor Guide